• Robot-side (ROS2 Noetic): https://github.com/SmartArmStack/smart_arm_stack_ROS2/tree/jazzy
  • LGPL Packages: as listed.
  • NonCommercial licensed Packages: as listed.
  • No NonCommercial packages are currently available for ROS2 Jazzy and above.
• Operator-side (Windows 10/11).
  • NonCommercial licensed: https://github.com/SmartArmStack/smart_arm_master_windows

NonCommercial software cannot be used for commercial purposes.

Please help document at https://github.com/SmartArmStack/smart_arm_stack_ROS2/wiki.

Please refer to each repository for the license.

• For LGPL licensed code refer to the GNU.org information.
• For the NonCommercial packages before and including Dec 2023 a license is required to use them for commercial purposes. This must be done via TODAI TLO.
• NonCommercial packages from Dec 2023 are not currently available, but they will not be covered by TODAI TLO.

The ROS1 version of these repositories can be attributed to Murilo Marinho's work at the University of Tokyo until December 2023. They are described in the following publications.

A version using ROS1 circa 2023 is described in this publication.

@Article{aiscienceplatform2024,
 author = {Marques Marinho, Murilo and Quiroz-Oma\~na, Juan Jos\'e and Harada, Kanako},
 title = {A Multi-Arm Robotic Platform for Scientific Exploration},
 journal = {IEEE Robotics and Automation Magazine (RAM)},
 doi = {10.1109/MRA.2023.3336472},
 url = {https://arxiv.org/abs/2210.11877},
 year = {2024}
 } 

The initial version of the software circa 2019 is described in this publication.

@Article{marinho2020integration,
  author       = {Marinho, Murilo M and Harada, Kanako and Morita, Akio and Mitsuishi, Mamoru},
  title        = {SmartArm: Integration and Validation of a Versatile Surgical Robotic System for Constrained Workspaces},
  journal      = {The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS)},
  year         = {2020},
  month        = apr,
  volume       = {16},
  number       = {2},
  pages        = {e2053},
  custom_type  = {1. Journal Paper},
  doi          = {10.1002/rcs.2053},
  note         = {Top Cited Article 2020-2021.},
}